version: 66.08
glider: 502
mission: 3
dive: 281
start: 12 20 110 21 28 59
data:
$ID,502
$MISSION,3
$DIVE,281
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,750
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,400
$D_CALL,3
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,4
$SURFACE_URGENCY_FORCE,8
$T_DIVE,250
$T_MISSION,320
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-2
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.025
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51763
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,70
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,8
$TGT_DEFAULT_LAT,-7715
$TGT_DEFAULT_LON,16530
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-30492.141
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,450
$PITCH_MAX,3944
$C_PITCH,3065
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2650
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,420
$VBD_MAX,3960
$C_VBD,2961
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-70.546913
$PRESSURE_SLOPE,0.00011650941
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,3
$ALTIM_PING_DEPTH,250
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,86
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,131
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043373196
$SEABIRD_T_H,0.00062598457
$SEABIRD_T_I,2.5066851e-05
$SEABIRD_T_J,2.8555498e-06
$SEABIRD_C_G,-9.7998753
$SEABIRD_C_H,1.1362277
$SEABIRD_C_I,-0.00070417771
$SEABIRD_C_J,0.00014171835
$GPS1,201210,212213,-7638.581,17319.822,17,1.7,23,128.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-73.1
$GPS2,201210,212832,-7638.563,17319.785,14,1.7,14,128.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,POLYNYA_tmp
$TGT_LATLONG,-7630.000,17400.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,298.1,23533,-17.5,-10.000
$D_GRID,477
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
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$GC,101,-0.76,-146.0,3.2,-1.3,12,131,8.88,2.38,-11.20,0.000,4,0.199,0.062,2814,1237,3560,0,0,0,0,0,0
$GC,273,-0.76,-146.0,28.1,-14.5,42,282,0.00,2.33,0.00,0.000,6,0.000,0.057,2805,2637,3563,0,0,0,0,0,0
$GC,413,-0.76,-146.0,49.9,-15.9,67,419,0.00,1.83,0.00,0.000,4,0.000,0.063,2798,3767,3563,0,0,0,0,0,0
$GC,454,-0.76,-146.0,56.9,-16.7,74,462,0.00,1.77,0.00,0.000,6,0.000,0.044,2798,2656,3563,0,0,0,0,0,0
$GC,593,-0.76,-146.0,80.0,-17.0,99,600,0.00,1.83,0.00,0.000,4,0.000,0.064,2789,3767,3563,0,0,0,0,0,0
$GC,623,-0.76,-146.0,85.4,-17.2,104,631,0.00,1.75,0.00,0.000,6,0.000,0.043,2789,2669,3563,0,0,0,0,0,0
$GC,766,-0.76,-146.0,109.6,-17.4,125,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2669,3563,0,0,0,0,0,0
$GC,892,-0.76,-146.0,131.6,-17.4,137,896,0.00,1.77,0.00,0.000,4,0.000,0.063,2782,3767,3563,0,0,0,0,0,0
$GC,917,-0.76,-146.0,136.1,-17.7,139,922,0.12,1.70,0.00,0.000,6,0.164,0.043,2815,2673,3563,0,0,0,0,0,0
$GC,1060,-0.76,-146.0,158.0,-15.3,152,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2670,3564,0,0,0,0,0,0
$GC,1195,-0.76,-146.0,178.6,-15.0,165,1196,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2670,3564,0,0,0,0,0,0
$GC,1322,-0.76,-146.0,197.8,-14.8,177,1326,0.00,1.77,0.00,0.000,4,0.000,0.063,2808,3767,3564,0,0,0,0,0,0
$GC,1349,-0.76,-146.0,201.5,-15.5,179,1352,0.00,1.70,0.00,0.000,6,0.000,0.044,2808,2676,3563,0,0,0,0,0,0
$GC,1491,-0.76,-146.0,223.2,-15.0,192,1494,0.00,1.77,0.00,0.000,4,0.000,0.063,2800,3767,3563,0,0,0,0,0,0
$GC,1527,-0.76,-146.0,228.9,-16.1,195,1531,0.00,1.67,0.00,0.000,6,0.000,0.043,2800,2688,3564,0,0,0,0,0,0
$GC,1671,-0.76,-146.0,251.0,-15.6,208,1677,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2685,3564,0,0,0,0,0,0
$GC,1868,-0.76,-146.0,282.0,-15.3,227,1872,0.00,1.75,0.00,0.000,4,0.000,0.063,2791,3767,3563,0,0,0,0,0,0
$GC,1895,-0.76,-146.0,286.5,-15.7,229,1903,0.00,1.67,0.00,0.000,6,0.000,0.042,2791,2713,3563,0,0,0,0,0,0
$GC,2095,-0.76,-146.0,317.5,-15.6,248,2096,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2713,3563,0,0,0,0,0,0
$GC,2284,-0.76,-146.0,347.2,-15.4,266,2288,0.00,1.70,0.00,0.000,4,0.000,0.064,2784,3767,3564,0,0,0,0,0,0
$GC,2330,-0.76,-146.0,354.8,-16.6,270,2334,0.12,1.65,0.00,0.000,6,0.164,0.043,2817,2701,3563,0,0,0,0,0,0
$GC,2533,-0.76,-146.0,382.6,-13.2,289,2536,0.00,1.75,0.00,0.000,4,0.000,0.066,2810,3774,3563,0,0,0,0,0,0
$GC,2567,-0.76,-146.0,387.5,-14.8,292,2570,0.00,1.65,0.00,0.000,6,0.000,0.044,2810,2709,3563,0,0,0,0,0,0
$GC,2770,-0.76,-146.0,416.1,-14.1,311,2774,0.00,1.75,0.00,0.000,4,0.000,0.064,2802,3760,3563,0,0,0,0,0,0
$GC,2792,-0.76,-146.0,419.5,-14.8,313,2796,0.00,1.65,0.00,0.000,6,0.000,0.043,2802,2696,3563,0,0,0,0,0,0
$GC,2996,-0.76,-146.0,449.6,-14.9,332,3000,0.00,1.75,0.00,0.000,4,0.000,0.063,2796,3773,3563,0,0,0,0,0,0
$GC,3022,-0.76,-146.0,454.0,-16.8,334,3029,0.00,1.65,0.00,0.000,6,0.000,0.044,2796,2740,3563,0,0,0,0,0,0
$STATE,3175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3175,begin apogee
$GC,3180,-0.17,0.0,477.6,15.3,349,3319,0.65,0.00,133.18,1.084,4,0.128,0.000,3006,2494,2960,0,0,0,0,0,0
$STATE,3320,end apogee,CONTROL_FINISHED_OK
$STATE,3320,begin climb
$GC,3322,0.76,146.0,483.7,0.0,361,3480,0.95,2.53,147.68,0.998,4,0.073,0.049,3308,1104,2364,0,0,0,0,0,0
$GC,3583,0.76,146.0,462.8,10.8,384,3587,0.00,2.45,0.00,0.000,6,0.000,0.051,3308,2501,2354,0,0,0,0,0,0
$GC,3781,0.76,146.0,439.8,12.2,402,3785,0.00,2.28,0.00,0.000,4,0.000,0.050,3317,1101,2351,0,0,0,0,0,0
$GC,3922,0.76,146.0,423.4,11.1,414,3926,0.00,2.30,0.00,0.000,6,0.000,0.053,3317,2512,2348,0,0,0,0,0,0
$GC,4125,0.76,146.0,398.3,12.4,433,4129,0.00,2.00,0.00,0.000,4,0.000,0.060,3317,3765,2347,0,0,0,0,0,0
$GC,4231,0.76,146.0,382.6,14.8,442,4238,0.00,1.98,0.00,0.000,6,0.000,0.042,3327,2526,2347,0,0,0,0,0,0
$GC,4429,0.76,146.0,356.4,13.2,461,4433,0.00,2.00,0.00,0.000,4,0.000,0.060,3328,3762,2346,0,0,0,0,0,0
$GC,4474,0.76,146.0,349.6,15.2,465,4478,0.00,1.92,0.00,0.000,6,0.000,0.043,3337,2529,2346,0,0,0,0,0,0
$GC,4677,0.76,146.0,321.9,13.4,484,4681,0.00,2.00,0.00,0.000,4,0.000,0.059,3337,3771,2346,0,0,0,0,0,0
$GC,4711,0.76,146.0,317.1,14.7,487,4715,0.12,1.92,0.00,0.000,6,0.170,0.044,3313,2536,2346,0,0,0,0,0,0
$GC,4910,0.76,146.0,293.7,11.5,505,4914,0.00,1.98,0.00,0.000,4,0.000,0.060,3313,3763,2346,0,0,0,0,0,0
$GC,4944,0.76,146.0,289.0,12.9,508,4947,0.00,1.90,0.00,0.000,6,0.000,0.043,3321,2543,2346,0,0,0,0,0,0
$GC,5147,0.76,146.0,264.1,12.3,527,5150,0.00,1.98,0.00,0.000,4,0.000,0.060,3321,3763,2345,0,0,0,0,0,0
$GC,5181,0.76,146.0,259.5,14.1,530,5185,0.00,1.88,0.00,0.000,6,0.000,0.043,3330,2556,2345,0,0,0,0,0,0
$GC,5386,0.76,146.0,232.4,13.7,549,5387,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2553,2345,0,0,0,0,0,0
$GC,5513,0.76,146.0,215.5,13.2,561,5515,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2553,2345,0,0,0,0,0,0
$GC,5640,0.76,146.0,199.1,12.7,573,5644,0.00,1.95,0.00,0.000,4,0.000,0.060,3330,3763,2344,0,0,0,0,0,0
$GC,5686,0.76,146.0,192.3,15.1,577,5690,0.00,1.88,0.00,0.000,6,0.000,0.042,3340,2558,2344,0,0,0,0,0,0
$GC,5828,0.76,146.0,172.9,13.4,590,5829,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,2557,2344,0,0,0,0,0,0
$GC,5955,0.76,146.0,155.7,13.3,602,5956,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,2556,2344,0,0,0,0,0,0
$GC,6082,0.76,146.0,138.6,13.6,614,6085,0.00,1.95,0.00,0.000,4,0.000,0.060,3340,3764,2344,0,0,0,0,0,0
$GC,6119,0.76,146.0,132.7,15.6,617,6130,0.10,1.92,0.00,0.000,6,0.135,0.042,3315,2558,2344,0,0,0,0,0,0
$GC,6256,0.76,146.0,116.6,11.9,630,6259,0.00,1.95,0.00,0.000,4,0.000,0.061,3315,3762,2344,0,0,0,0,0,0
$GC,6302,0.76,146.0,110.4,13.3,634,6305,0.00,1.85,0.00,0.000,6,0.000,0.043,3323,2567,2343,0,0,0,0,0,0
$GC,6438,0.76,146.0,93.8,12.3,651,6444,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2566,2344,0,0,0,0,0,0
$GC,6573,0.76,146.0,77.4,12.1,676,6580,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2566,2343,0,0,0,0,0,0
$GC,6710,0.76,146.0,60.8,12.1,701,6718,0.00,1.95,0.00,0.000,4,0.000,0.060,3323,3765,2343,0,0,0,0,0,0
$GC,6737,0.76,146.0,57.4,13.0,705,6744,0.00,1.85,0.00,0.000,6,0.000,0.042,3332,2576,2343,0,0,0,0,0,0
$GC,6874,0.76,146.0,39.8,12.7,730,6881,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2575,2343,0,0,0,0,0,0
$GC,7012,0.76,146.0,22.2,13.1,755,7019,0.00,1.92,0.00,0.000,4,0.000,0.060,3332,3764,2344,0,0,0,0,0,0
$GC,7048,0.76,146.0,17.2,14.9,761,7056,0.00,1.85,0.00,0.000,6,0.000,0.042,3341,2579,2343,0,0,0,0,0,0
$FREEZE,8.59,-0.967,-1.895,2,1,0
$FREEZE,7.91,-0.953,-1.895,2,1,0
$FREEZE,7.10,-0.943,-1.895,2,1,0
$FREEZE,6.39,-0.918,-1.894,2,1,0
$FREEZE,5.65,-0.916,-1.894,2,1,0
$FREEZE,4.99,-0.920,-1.893,2,1,0
$FREEZE,4.13,-0.912,-1.892,2,1,0
$FREEZE,3.31,-0.913,-1.892,2,1,0
$FREEZE,2.45,-0.872,-1.891,2,1,0
$STATE,7158,end climb,SURFACE_DEPTH_REACHED
$STATE,7158,begin surface coast
$FREEZE,1.41,-0.860,-1.890,2,1,0
$FREEZE,1.33,-0.835,-1.888,2,1,0
$FREEZE,1.38,-0.872,-1.038,2,1,0
$FREEZE,1.33,-0.854,-0.256,2,1,0
$FINISH,1.3,1.003581
$STATE,7183,end surface coast,FINISH_DEPTH_REACHED
$STATE,7183,begin surface
$SM_CCo,7199,80.20,0.728,1,0,1737,300.24
$SM_GC,2.25,0.00,0.00,80.20,0.000,0.000,0.728,417,2657,1737,-8.28,0.20,300.24
$IRIDIUM_FIX,-7554.21,17317.96,201210,191937
$TT8_MAMPS,0.027713
$HUMID,52.40
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,18.1
$24V_AH,20.4,52.336
$10V_AH,9.8,33.572
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.500,87.900,280.850,80.200,0.000,29.328,36.780,204.185,2.250,0.000,15.417,2013.109,2910.841,484.380,2080.464,181.303,0.000,1264.928,0.000,1295.797,0.000,11.204,0.000
$DEVICE_MAMPS,198.900,100.215,1084.005,728.280,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,552.390,944.397,909.013,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,257988
$DATA_FILE_SIZE,53786,784
$CAP_FILE_SIZE,109371,0
$CFSIZE,260165632,235753472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.099,319.1,1
$GPS,201210,233137,-7637.874,17322.473,36,1.4,37,128.2